20 Feb

Survey on Recursive EM algorithm

Chaojie Feng

This week I was mainly surveying on puplications for recursive EM methods (not restricted to SLAM) in various applications, which is listed below: (1) Online EM algorithm for latent model This paper is more like a tutorial on how to use recursive EM algorithm to estimate parameter and update latent...

30 Jan

Source of Divergence in EM-SLAM

Chaojie Feng

To debug what causes the divergence of EM-SLAM algorithm, I Separated E-step and M-step. To prove M-step is correct, every time I will feed a true Q-function from E-step to M-step. i.e. x=x_true, P=0. (Note in general, Q-function contains trajectory information and it is always estimated in E-step)....

16 Jan

Proposal for Winter 2019

Chaojie Feng

For this quarter, I will work with Tsangkai addressing on EM-SLAM problem. First half of quarter: Investigate EM-SLAM problem in detail. Validate the result from "EM-SLAM with Visual/Inertial Application" using Python. Try to achieve convergence of this algorithm. If unable to achieve, figure ou...

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